同轨双车运行模式下的堆垛机调度策略  

Scheduling policy of double-crane in automated warehouse

作　　者：蔡安江[1] 蔡曜 郭师虹[2] 王坚[3] CAI Anjiang;CAI Yao;GUO Shihong;WANG Jian(College of Electrical and Mechanical Engineering, Xi＇an University of Architecture and Technology,Xi＇an 710055,China;College of Civil Engineering, Xi＇an University of Architecture and Technology, Xi＇an 710055 ,China;CIMS Research Center, Tongji University, Shanghai 200092,China)

机构地区：[1]西安建筑科技大学机电工程学院,陕西西安710055 [2]西安建筑科技大学土木工程学院,陕西西安710055 [3]同济大学CIMS研究中心,上海200092

出　　处：《计算机集成制造系统》2018年第6期1483-1493,共11页Computer Integrated Manufacturing Systems

基　　金：教育部“蓝火计划”产学研联合创新资助项目(2014-LHJH-HSZX-018); 陕西省教育厅服务地方专项计划资助项目(17JF011).

摘　　要：大型立体仓库普遍存在巷道纵深过长的问题,为提高其存储效率,多采用两端式同轨双车运行模式。为解决该运行模式下双堆垛机碰撞及存储效率问题,对存储任务的分配方式和堆垛机的调度路径进行了研究。以两台堆垛机完成存储任务的运行时间为评价标准,在存储任务分配给两台堆垛机时,提出防碰撞原则,避免发生碰撞,在此基础上建立基于单一任务、复合任务并存的双堆垛机调度模型。运用改进的化学反应优化(ICRO)算法对双堆垛机的调度路径进行优化,通过在迭代过程中增加调整存储任务分配结果的步骤,获取同轨双车运行模式下双堆垛机调度模型的最优解,实现其存储效率的最优。仿真验证表明,该研究可以有效避免双堆垛机的碰撞,提高大型立体仓库的存储效率。To improve the running efficiency of automated warehouse,numerous enterprises adopted the warehouse layout model which used double-crane on single roadway with two I/O station.For the problem of double-crane scheduling,the anti-collision principle was taken as the basic principle and the required operating time of two cranes as the evaluation criteria to present a new scheduling model based on mixed command sequence by analyzing the operating modes of double-crane in different tasks.On this basis,Improved Chemical Reaction Optimization（ICRO）was used to optimize the scheduling path of double-cranes.According to the analysis of simulation,the proposed crane scheduling model could adopt the warehouse operating condition and avoid the collision.Meanwhile,the optimization algorithm could improve the storage efficiency for double-crane on single roadway with two I/O station model.

关 键 词：立体仓库 同轨双车 调度模型 防碰撞原则 化学反应优化 路径优化 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] O224[自动化与计算机技术—控制科学与工程]